CUPID· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- CUPID 30 Random filtering 30
- Total duration
- CUPID 7:29 Random filtering 8:38
- Mean duration
- CUPID 15.0 s Random filtering 17.3 s
- Success
- CUPID 43% Random filtering 53%
- Manipulation density
- CUPID Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.6%Gripper engaged82.5%Contact force > 5 N62.7%Gripper engaged or in contact90.1% Random filtering Share of time manipulating, five definitionsJoints moving99.1%End-effector moving96.4%Gripper engaged87.8%Contact force > 5 N45.7%Gripper engaged or in contact92.0%
- SPARC smoothness
- CUPID Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. Random filtering Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015.
Episode
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